JP2023128202A - Management device of movable body, management method, management program and movable body system - Google Patents

Abstract

To provide a management device of a movable body which prevents movement of a user of a facility from being interfered with, a management method, a management program and a movable body system.SOLUTION: In a movable body system 1, one or more movable bodies 7 execute the business operation by moving in a facility 2. An observation device (user detection device 4, elevator 5 and entry/exit management device 6) is provided in the facility 2. In a management device 9, a congestion estimation unit 14 estimates the congestion state for each preset area and each preset time zone in the facility 2 on the basis of the information from the observation device, a constraint determination unit 15 determines a constraint condition about at least one of the business operation and movement of the movable body 7 on the basis of the congestion state estimated by the congestion estimation unit 14, and a schedule creation unit 16 creates an action schedule that each movable body 7 follows on the basis of the constraint condition determined by the constraint determination unit 15.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a mobile body management device, a management method, a management program, and a mobile body system.

Patent Document 1 discloses an example of a mobile system. In the mobile body system, the mobile body provides a serving service that transports cooked food from a delivery location to a customer's seat. The arrival time of the mobile object at the delivery location is predicted and calculated based on the state information of the mobile object. The mobile object with the earliest predicted arrival time is selected as the mobile object that will perform the wait service.

Japanese Patent Application Publication No. 2011-245577

In the mobile system of Patent Document 1, the mobile that performs tasks such as transportation is selected based on energy saving properties such as travel distance and travel time. For this reason, if a facility to which a mobile system is applied has a congested location on the movement route of the mobile object, a mobile object selected based on energy efficiency may hinder the movement of facility users. There is.

The present disclosure relates to solving such problems. The present disclosure provides a mobile body management device, a management method, a management program, and a mobile body system that make movement of facility users less likely to be hindered.

The mobile object management device according to the present disclosure reports the congestion situation for each preset area and preset time period in a facility where one or more mobile objects move to carry out work. a congestion estimating unit that estimates based on information from an observation device installed in the congestion estimation unit; and at least one of the work and movement of each of the one or more mobile objects based on the congestion situation estimated by the congestion estimation unit. and a schedule creation section that creates an action schedule to be followed by each of the one or more moving objects based on the constraints determined by the constraint determination section.

A mobile object management method according to the present disclosure includes a method of managing a mobile object that analyzes the congestion situation for each preset area and preset time period in a facility where one or more mobile objects move to carry out work. a congestion estimation step of estimating based on information from an observation device installed at the and a schedule creation step of creating an action schedule to be followed by each of the one or more moving bodies based on the constraints determined in the constraint determination step.

The mobile object management program according to the present disclosure causes a computer to monitor the congestion situation for each preset area and for each preset time period in a facility where one or more mobile objects move to carry out work. , a congestion estimation step of estimating based on information from an observation device installed in the facility; and a congestion estimation step of estimating the congestion status of each of the one or more mobile objects based on the congestion situation estimated in the congestion estimation step. a constraint determining step of determining a constraint regarding at least one of the constraints; and a schedule creating step of creating an action schedule to be followed by each of the one or more moving objects based on the constraint determined in the constraint determining step. Let it run.

A mobile system according to the present disclosure includes one or more mobile bodies that move between facilities to carry out work, an observation device installed in the facility, and a preset area for each preset area in the facility. a congestion estimation unit that estimates the congestion situation for each time period based on the information from the observation device; and a congestion estimation unit that estimates the congestion situation for each time period based on the information from the observation device; a constraint determining unit that determines constraint conditions regarding at least one of work and movement; and schedule creation that creates an action schedule to be followed by each of the one or more moving objects based on the constraint conditions determined by the constraint determining unit. It is equipped with a section and a section.

According to the mobile body management device, management method, management program, or mobile body system according to the present disclosure, movement of facility users is less likely to be hindered.

1 is a configuration diagram of a mobile system according to Embodiment 1. FIG. 1 is a plan view showing an example of a facility according to Embodiment 1. FIG. FIG. 3 is a diagram showing an example of mobile object information according to the first embodiment. FIG. 3 is a diagram showing an example of business information according to the first embodiment. FIG. 3 is a diagram showing an example of business information according to the first embodiment. FIG. 3 is a diagram showing an example of business information according to the first embodiment. FIG. 3 is a diagram showing an example of business information according to the first embodiment. FIG. 3 is a diagram showing an example of an action schedule according to the first embodiment. FIG. 3 is a diagram showing an example of an action schedule according to the first embodiment. 5 is a flowchart illustrating an example of the operation of the management device according to the first embodiment. 5 is a flowchart illustrating an example of the operation of the management device according to the first embodiment. 5 is a flowchart illustrating an example of the operation of the management device according to the first embodiment. 5 is a flowchart illustrating an example of the operation of the management device according to the first embodiment. 1 is a hardware configuration diagram of main parts of a mobile system according to Embodiment 1. FIG. FIG. 2 is a configuration diagram of a mobile system according to a second embodiment. 7 is a flowchart illustrating an example of the operation of the management device according to the second embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Modes for implementing the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are given the same reference numerals, and overlapping explanations are simplified or omitted as appropriate. Note that the subject of the present disclosure is not limited to the following embodiments, and modifications of any constituent elements of the embodiments or modifications of any constituent elements of the embodiments may be made without departing from the spirit of the present disclosure. Can be omitted.

Embodiment 1.
FIG. 1 is a configuration diagram of a mobile system 1 according to the first embodiment.

Mobile system 1 is applied to facility 2 . The facility 2 is, for example, an indoor facility, an outdoor facility, or a complex of these facilities. The facility 2 includes, for example, one or more buildings. Facility 2 may be a part of a building, for example.

In the facility 2, a plurality of areas are set in advance. The area of the facility 2 is set, for example, to separate locations in the facility 2 where users can move. A user of the facility 2 is, for example, a person who is present at the facility 2. Users of the facility 2 include, for example, residents, customers, visitors, employees, or managers of the facility 2. Users of the facility 2 may use the information terminal 3. The information terminal 3 is, for example, a general-purpose information processing device such as a personal computer. The information terminal 3 may be, for example, a portable mobile terminal owned by a user, such as a smartphone or a tablet computer. The portable mobile terminal may be equipped with a wireless tag function such as an RFID tag (RFID: Radio Frequency IDentification). Note that the information terminal 3 may be used by a manager of the facility 2 or the like. At this time, the information terminal 3 may be installed outside the facility 2.

In the facility 2, a user detection device 4, an elevator 5, and an entrance/exit control device 6 are provided. The user detection device 4 is a device that detects users of the facility 2. The user detection device 4 is, for example, a people counting sensor that counts the number of users passing through the facility 2. Alternatively, the user detection device 4 may be a sensor that detects, for example, the information terminal 3 carried by the user as a wireless tag. Alternatively, the user detection device 4 may be, for example, a camera that photographs users acting in the facility 2. The elevator 5 is a device that transports users between multiple floors of the facility 2. The elevator 5 has a scale that measures the load on a car or the like in which a user rides. The elevator 5 may acquire information such as the number of users to be transported based on the measured value of the scale. The entry/exit management device 6 is a device that manages entry/exit of users to a managed location in the facility 2 . The location to be managed may be, for example, any area set in the facility 2. The entrance/exit management device 6 may include a reading device that reads user identification information. The user's identification information may be read from the information terminal 3 or other identifier such as an identification card carried by the user. The user's identification information may be the user's biometric information or the like. The entrance/exit management device 6 may acquire information such as the number of users entering/exiting the location to be managed. The user detection device 4, the elevator 5, and the access control device 6 are examples of observation devices. The observation device is a device that observes information used to estimate the congestion situation by users of the facility 2. Part or all of the observation device may be a device included in the mobile system 1 or may be an external device to the mobile system 1.

Mobile system 1 includes one or more mobile bodies 7. The mobile system 1 in this example includes a plurality of mobile bodies 7. Each mobile object 7 is a device that moves in the facility 2 . The mobile object 7 is, for example, an autonomous mobile object such as a robot or a mobility object. The mobile body 7 carries out work by moving within the facility 2 . The tasks carried out by the moving body 7 include, for example, transporting goods, cleaning inside the facility 2, guiding, and guarding. Each moving body 7 moves within the facility 2 based on remote control by a moving body control device 8, for example. The mobile system 1 may include a mobile body 7 that moves within the facility 2 without being remotely controlled by the mobile body control device 8 . Here, the mobile object control device 8 is, for example, one or more server computers. A part or all of the functions of the mobile object control device 8 may be installed in one or more devices located inside or outside the facility 2. Alternatively, some or all of the functions of the mobile object control device 8 may be implemented using storage or processing resources on a cloud service.

Mobile system 1 includes a management device 9 . The management device 9 is, for example, one or more server computers. A part or all of the functions of the management device 9 may be installed in one or more devices located inside or outside the facility 2. Alternatively, some or all of the functions of the management device 9 may be implemented using storage or processing resources on a cloud service. For example, the management device 9 reads a program recorded on a recording medium and operates according to the program. The recording medium that records the program may be built into the management device 9, connected to the management device 9, or connected to an external device that communicates with the management device 9, for example. It may be connected. Each function of the management device 9 is executed based on the program, for example.

The management device 9 communicates with the mobile control device 8, the user detection device 4, the elevator 5, the entrance/exit management device 6, and the information terminal 3 at appropriate timings. Furthermore, the mobile object control device 8 communicates with the mobile object 7 that is remotely controlled at a timing according to necessity. Note that the management device 9 may communicate with the mobile body 7 without going through the mobile body control device 8.

The management device 9 includes a map information storage section 10, a user information storage section 11, a mobile information storage section 12, a business information storage section 13, a congestion estimation section 14, a constraint determination section 15, and a schedule creation section. 16, a calculation condition determination section 17, a determination section 18, and a control command creation section 19.

The map information storage section 10, the user information storage section 11, the mobile information storage section 12, and the business information storage section 13 are sections equipped with a function of storing information. Each storage unit may be realized, for example, by mutually different hardware, or may be realized by different storage areas on the same hardware.

In the map information storage unit 10, map information of the facility 2 is stored. The map information includes, for example, information on the arrangement of structures such as walls of the facility 2, information on the usage status of each location within the facility 2, and the like. The usage status information includes, for example, information such as the room number of each room in the facility 2 or information on the tenant living there. The map information may include information on the area set in the facility 2. The area information includes, for example, area position information, area range or shape information, or information representing the positional relationship between areas.

In the user information storage unit 11, user information acquired based on the observation results of observation devices such as the user detection device 4, the elevator 5, and the entrance/exit control device 6 is stored. The user information includes, for example, the location of the user and the number of users in each area within the facility 2. The user information is acquired based on, for example, the number of users whose passing is detected by the user detection device 4. The user information may be acquired based on an image taken by a camera, which is the user detection device 4, for example. The user information may be acquired, for example, based on the number of people getting on and off each floor, which is measured by the elevator 5 using a scale measurement value or the like. The user information may be acquired, for example, based on information on the user's entry/exit area managed by the entry/exit management device 6.

In the moving object information storage section 12, moving object information about each moving object 7 is stored. The moving object information includes information such as the attributes, position, and state of the moving object 7, for example. The attributes of the mobile body 7 include, for example, the type of work performed by the mobile body 7, specifications of the mobile body 7, management information of the mobile body 7, and the like. The specifications of the moving body 7 include, for example, the standard moving speed of the moving body 7, the maximum moving speed of the moving body 7, the weight of the moving body 7, the size of the moving body 7, and the size of articles that the moving body 7 can transport. Contains information. The status of the mobile body 7 includes information such as whether or not the mobile body 7 is performing work, the work that the mobile body 7 is performing, and the amount of charge of the storage battery mounted on the mobile body 7.

In the business information storage unit 13, business information regarding the business performed by each mobile body 7 is stored. The business information includes, for example, information about the type of business, the location where the business is performed, and the time at which the business is performed. Business information is registered, for example, through the information terminal 3 owned by the user.

The congestion estimation unit 14 is a part equipped with a function of estimating the congestion situation in the facility 2. The congestion estimating unit 14 estimates information for each area of the facility 2 and for each preset time period based on the user information stored in the user information storage unit 11 and the map information stored in the map information storage unit 10. Estimate the congestion situation. The congestion situation in a future time period from the present time is estimated using, for example, user information from the present time in the future. User information in the future from the present time is estimated based on, for example, the history of user information already acquired by the observation device. The time period in which the congestion situation is estimated may be, for example, a time period that is divided in advance into equal or unequal intervals during the day, or a time period that is dynamically set based on user information, etc. It's okay. The congestion estimating unit 14 calculates the number of users, such as the number of people present or the number of users, for each area and time, and performs statistical processing such as calculating the average value or mode for the calculated number of people. By doing this, we can estimate the congestion situation. The congestion estimating unit 14 uses the congestion situation in nearby areas such as adjacent areas to the area to be estimated, or the congestion situation in time zones before and after the time period to be estimated, to estimate the area to be estimated and the time to be estimated. The congestion situation of the band may be estimated. Here, the nearby area is specified using, for example, map information stored in the map information storage unit 10. The congestion situation is expressed by, for example, the number of users of the facility 2 for each area and each time, or the degree of the number of users such as density or occupied area. The congestion situation may be represented by graded levels.

The congestion estimation unit 14 updates the estimated congestion situation in the facility 2, for example, at a preset timing. The preset timing may be, for example, a preset timing at regular intervals, or may be a timing based on a change in the situation in the facility 2, such as user information.

The constraint determination section 15 is a section equipped with a function of determining constraint conditions regarding the work or movement of the mobile body 7 based on the congestion situation of the facility 2 estimated by the congestion estimation section 14. The constraint conditions are set, for example, so that the moving body 7 does not obstruct the movement of users of the facility 2. The constraint determining unit 15 may determine constraint conditions regarding both work and movement of the mobile body 7. When updating the congestion situation estimated by the congestion estimation unit 14, the constraint determination unit 15 determines a constraint condition based on the updated congestion situation.

As a constraint regarding the work of the mobile objects 7, for example, for the area, time period, and work type set in the facility 2, the required number of mobile objects 7 to carry out the work of the relevant work type in the relevant area and time period is It is determined. The required number is the lower limit of the number of moving bodies 7. The required number of machines is set, for example, for a type of work whose necessity increases as the number of users increases due to congestion. The work type includes, for example, a work type of work that calls attention to avoid crowding to prevent the spread of infectious diseases, a work type of work such as cleaning or disinfection work, and the like. Note that when the required number of machines is determined, jobs of the business types corresponding to the number of machines that are insufficient compared to the required number may be automatically registered as business information.

In addition, as a constraint on the work of the mobile unit 7, for example, regarding the area, time period, and work type set for the facility 2, the mobile unit 7 is permitted to perform the work of the relevant work type in the relevant area and during the relevant time period. The number of machines is determined. The allowable number is the upper limit of the number of moving objects 7. The allowable number of mobile units 7 is determined so that the mobile units 7 can efficiently carry out their work without hindering the movement of users. The permissible number may be determined regardless of the business type.

Since the appropriate number of machines and permissible number of machines corresponding to the congestion situation differ depending on the type of business, the number of machines required and the number of machines allowed are set for each type of business. Note that the constraint determining unit 15 may set the required number of machines to 0 for at least one of the business types depending on the congestion situation. Further, the constraint determining unit 15 may set the permissible number of machines to be unlimited for at least one of the business types depending on the congestion situation.

As a constraint regarding the movement of the mobile bodies 7, for example, for an area set for the facility 2 and a time period, the permissible number of mobile bodies 7 that move in the area during the time period is determined. The allowable number is the upper limit of the number of moving objects 7. The allowable number is determined so that the moving objects 7 can move efficiently without hindering the movement of users.

Note that as a constraint regarding the work or movement of the mobile body 7, an upper limit value of the moving speed of the mobile body 7 during work or movement may be determined. As a constraint regarding the work or movement of the mobile body 7, whether or not cargo can be loaded onto the mobile body 7, or an upper limit on the size of luggage to be loaded on the mobile body 7, etc. may be determined.

The constraint condition is determined, for example, based on a preset relational expression between the congestion situation and the constraint condition. Alternatively, the constraint conditions may be determined based on, for example, a preset correspondence table between congestion situations and constraint conditions. Further, the constraint conditions may be determined for each attribute such as size classification or maximum moving speed of the moving object 7. Further, for a business type of business in which movement such as delivery can be considered as part of the business, constraint conditions may be determined by considering movement as a business.

The calculation condition determination section 17 is a section equipped with a function of determining calculation conditions for the required time for work or movement of the mobile body 7 based on the congestion situation estimated by the congestion estimation section 14. When updating the congestion situation estimated by the congestion estimation unit 14, the calculation condition determining unit 17 determines calculation conditions based on the updated congestion situation. The calculation conditions are expressed, for example, by a coefficient by which the standard required time is multiplied, or by a coefficient by which the moving speed or maximum moving speed is multiplied when calculating the required time.

The calculation conditions are determined, for example, based on a relational expression such as a preset congestion situation and a coefficient of the calculation conditions. Alternatively, the calculation conditions may be determined based on, for example, a preset correspondence table between congestion status and calculation conditions. Further, the calculation conditions may be determined for each moving object 7 or for each attribute such as the size classification or maximum moving speed of the moving object 7.

The schedule creation section 16 is a section equipped with a function of creating an action schedule for each mobile object 7 to follow based on the constraint conditions determined by the constraint determination section 15. The schedule creation unit 16 may use the calculation conditions for the required time for work or movement of the mobile body 7 determined by the calculation condition determination unit 17 in creating the action schedule. In creating the action schedule, the schedule creation unit 16 uses the business information stored in the business information storage unit 13, the mobile information stored in the mobile information storage unit 12, and the map information stored in the map information storage unit 10. Good too.

The determining unit 18 is a unit equipped with a function of determining whether or not the action schedule created by the schedule creating unit 16 satisfies the updated constraint when the constraint determined by the constraint determining unit 15 is updated. be. The action schedule to be determined may be an action schedule that is scheduled to be implemented in the future, or may be an action schedule that is currently being implemented.

The control command creation unit 19 is a part equipped with a function of creating a control command to the mobile object 7 based on the action schedule created by the schedule creation unit 16. The control command created by the control command creation unit 19 is transmitted to each mobile object 7, for example, through the mobile object control device 8 or directly. Each mobile body 7 moves within the facility 2 and performs its work based on the received control command.

FIG. 2 is a plan view showing an example of the facility 2 according to the first embodiment.

The floor shown in FIG. 2 includes zone a, zone b, and zone c. Zone a and zone c each include an elevator bank, a staircase, and two rooms. Elevator banks in zones a and c include three cars. Zone c includes the toilet. Zone b includes five compartments. Zone b is located between zone a and zone c. An automatic door is placed at the entrance/exit of the boundary between zone b, zone a, and zone c. Each room in zone a and zone c and the entrance/exit area in zone b are managed by an entrance/exit management device 6. In this example, each section, each room, and each elevator bank are each set as one area. Regarding the elevator bank in this example, the landing area on each floor and the space inside the car are collectively set as one area. Note that the floors of the facility 2 may include areas that are not subject to estimation of congestion status. Further, the divisions on the floor of the facility 2 may be divided into a plurality of smaller areas. Furthermore, for each floor of the facility 2, the entire floor may be set as one area.

FIG. 3 is a diagram illustrating an example of mobile object information according to the first embodiment.

The mobile object information is managed using, for example, a mobile object ID (IDentifier) that identifies the mobile object 7 as a key. In this example, the moving object information includes the type of work that the moving object 7 can perform, the size classification representing the size of the moving object 7, the maximum moving speed of the moving object 7, the current charge amount of the moving object 7, and the moving object 7. 7's current position etc. are stored.

FIG. 4 is a diagram illustrating an example of business information according to the first embodiment.

The tasks carried out by the mobile body 7 are divided into four types, for example, time-specified tasks, period-specified tasks, regular tasks, and other tasks. The business information includes different information depending on the type of business.

In FIG. 4A, an example of business information for a time-specified business is shown. A time-specified task is, for example, a task for which a start time or an end time is specified. The work information for the time-specified work includes at least the work type, the execution location, and the start time or end time. The business information of the time-specified business may include the execution conditions of the business, the degree of importance, or other information used in the performance of the business.

In FIG. 4B, an example of business information for a period-specified business is shown. A period-specified task is, for example, a task in which a period during which the task can be performed is specified. The end time of the specified period is, for example, the deadline for completing the task. The work information of the period-designated work includes at least the work type, the implementation location, and the start time and end time of the designated period. The work information of the period-designated work may include the execution time of the work. At this time, for example, the task by the mobile body 7 is executed for the length of the execution time during the specified period. The work information of the period-specified work may include the execution conditions of the work, the degree of importance, or other information used to perform the work.

In FIG. 4C, an example of business information for regular business is shown. Regular work is, for example, work that is performed regularly. The work information of the regular work includes at least the work type, the place of work, and the minimum or maximum interval from the previous work to the next work. The business information of the regular business may include the conditions for performing the business, the degree of importance, or other information used in the performance of the business.

In FIG. 4D, an example of business information for other business is shown. Other tasks are tasks for which the timing of implementation is not particularly specified, for example. The work information for other work includes at least the work type and the place where the work is performed. The business information of other business may include the time during which the business is performed. The business information of other businesses may include the conditions for implementing the business, the degree of importance, or other information used to implement the business.

FIG. 5 is a diagram illustrating an example of an action schedule according to the first embodiment.
FIG. 5A shows an example of an activity schedule when no constraint conditions are imposed depending on the congestion situation.
On the other hand, FIG. 5B shows an example of an activity schedule when constraint conditions are imposed depending on the congestion situation.

As shown in FIG. 5A, movement, charging, An action schedule including waiting and waiting is created.

Business A001 and business A002 are business type A businesses performed in area α. Business B001 and business B002 are business type B businesses performed in area β. Business C001 is a business of business type C that is performed in area γ. Work D001 and work D002 are work of work type D performed in area δ.

Here, as shown in FIG. 5B, as a constraint condition according to the congestion situation, one permissible number of machines is set for work type A to be carried out in area α during the time period from time t1 to time t2. It is determined. Further, as a constraint according to the congestion situation, the required number of two machines is determined for the work of work type D to be carried out in area δ during the time period from time t3 to time t4.

At this time, the schedule creation unit 16 creates an action schedule for each mobile object 7 so that the constraint conditions are satisfied.

Next, an example of the operation of the management device 9 will be described using FIGS. 6 to 8.
6 to 8 are flowcharts showing examples of operations of the management device 9 according to the first embodiment.

In FIG. 6, an example of processing related to estimating the congestion situation is shown. The process in FIG. 6 starts at regular timing, such as every hour, for example.

In step S601, the congestion estimating unit 14 calculates congestion for each area of the facility 2 and for each time period based on information acquired by observation devices such as the user detection device 4, the elevator 5, and the entrance/exit control device 6. Estimate the situation. Thereafter, the process of the management device 9 proceeds to step S602.

In step S602, the constraint determination unit 15 determines constraints regarding the work or movement of the mobile body 7 based on the congestion situation estimated by the congestion estimation unit 14. After that, the process of the management device 9 proceeds to step S603.

In step S603, the calculation condition determination unit 17 determines calculation conditions for the time required for work or movement of the mobile body 7 based on the congestion situation estimated by the congestion estimation unit 14. Thereafter, the process of the management device 9 proceeds to step S604.

In step S604, the management device 9 determines whether the constraint condition has been updated from the previously determined constraint condition. If the determination result is YES, the process of the management device 9 proceeds to step S605. On the other hand, if the determination result is NO, the processing of the management device 9 ends.

In step S605, the determination unit 18 determines whether the activity schedule already created by the schedule creation unit 16 satisfies the updated constraint condition. If the determination result is NO, the process of the management device 9 proceeds to step S606. On the other hand, if the determination result is YES, the processing of the management device 9 ends.

In step S606, the schedule creation unit 16 re-creates the action schedule. The schedule creation unit 16 re-creates the action schedule using the same process as when creating the action schedule. Thereafter, the processing of the management device 9 ends. Note that the behavior schedule may be recreated not only when the determination unit 18 determines that the behavior schedule does not satisfy the updated constraint conditions, but also when a new task is additionally registered while the behavior schedule is being implemented. May be done. The target period for re-creating the behavior schedule may be the remaining period of the target period of the currently implemented behavior schedule, or a new target period of the behavior schedule may be set from this point in time.

In FIG. 7, an example of processing related to creating an activity schedule is shown. The process in FIG. 7 starts at regular timing, such as every hour, for example.

In step S701, the schedule creation unit 16 creates an action schedule for the mobile object 7 in a predetermined target period based on the constraint conditions determined by the constraint determination unit 15 and the calculation conditions determined by the calculation condition determination unit 17. do. The target period is, for example, one day. Thereafter, the process of the management device 9 proceeds to step S702.

In step S702, the management device 9 determines whether there is any unimplemented work as a result of creating the action schedule in step S701. If the determination result is NO, the process of the management device 9 proceeds to step S703. On the other hand, if the determination result is YES, the process of the management device 9 proceeds to step S704.

In step S703, the control command creation unit 19 creates control commands for each mobile object 7 based on the action schedule created by the schedule creation unit 16. Thereafter, the processing of the management device 9 ends. Note that the management device 9 transmits the control command for the mobile body 7 created by the control command creation unit 19 to the mobile body 7 or a mobile body control device 8 that remotely controls the mobile body 7 at a timing according to necessity. do.

In step S704, the management device 9 notifies the information terminal 3 of information that there is unimplemented work. Thereafter, the processing of the management device 9 ends. The management device 9 notifies the administrator of the facility 2 or the registrant of the business information via the information terminal 3 that all the registered businesses cannot be performed, or prompts the administrator to correct the business information. can do.

In FIG. 8, an example of detailed processing for creating an activity schedule is shown. The process in FIG. 8 is executed, for example, in step S606 in FIG. 6 or step S701 in FIG. 7.

In step S801 of FIG. 8A, the schedule creation section 16 extracts the tasks to be performed during the target period from among the tasks registered in the task information storage section 13, and selects one task from among them. For example, the schedule creation unit 16 selects the task with the closest start date and time. Alternatively, the schedule creation unit 16 may select the task with the closest end date and time, or may select the task with the highest degree of importance. After selecting the task, the process of the schedule creation unit 16 proceeds to step S802.

In step S802, the schedule creation unit 16 determines whether there is a mobile object 7 that can perform the selected task. For example, the schedule creation unit 16 selects a mobile unit 7 whose executable job type includes the job type of the job in the mobile information stored in the mobile unit information storage unit 12 as a mobile unit capable of carrying out the job. Let it be a moving body 7. In addition, when conditions regarding attributes such as the size classification or moving speed of the moving object 7 are defined in the implementation conditions of the work information, the schedule creation unit 16 allows the moving object 7 that also satisfies the conditions to perform the task. A moving object 7 is assumed. If there is a mobile unit 7 that can perform the selected task, the process of the schedule creation unit 16 proceeds to step S803. On the other hand, if there is no mobile unit 7 that can perform the selected task, the process of the schedule creation unit 16 proceeds to step S817 in FIG. 8B.

In step S803, the schedule creation unit 16 selects one mobile body 7 from among the mobile bodies 7 that can perform the selected task. Thereafter, the process of the schedule creation unit 16 proceeds to step S804.

In step S804, the schedule creation unit 16 determines whether the selected mobile body 7 needs to be charged in order to move to the selected work implementation location and execute the work. The amount of charge required to move to the place where the work is performed and the amount of charge required to execute the work may be calculated based on preset formulas, or may be calculated based on calculations learned from past history. It may be calculated by If charging is necessary, the process of the schedule creation unit 16 proceeds to step S805. On the other hand, if charging is not necessary, the process of the schedule creation unit 16 proceeds to step S806.

In step S805, the schedule creation unit 16 schedules charging for the selected mobile body 7 in order to obtain the amount of charge necessary for the selected mobile body 7 to move to the selected work implementation location and execute the work. To plan. That is, the schedule creation unit 16 creates a schedule including the movement of the mobile object 7 to the charging location. Thereafter, the process of the schedule creation unit 16 proceeds to step S806.

In step S806, the schedule creation unit 16 determines the time at which the selected mobile object 7 starts moving from its current location to the selected work implementation location. For example, the schedule creation unit 16 sets the time at which the moving body 7 starts moving as the completion time of the task of the moving body 7 immediately before the task. When planning charging for the movable body 7, for example, the schedule creation unit 16 may set the time when the movable body 7 starts moving as the time when charging of the movable body 7 at the charging location is completed. In order to provide a margin, the schedule creation unit 16 sets the time at which the movement of the mobile object 7 is to be started at a time when a preset time has elapsed from the completion time of the previous task or the completion time of charging. You can also use it as After determining the time to start moving, the process of the schedule creation unit 16 proceeds to step S807.

In step S807, the schedule creation unit 16 determines a route for the selected mobile object 7 to travel from the current location to the selected work implementation location. Based on the constraint conditions regarding movement determined by the constraint determination unit 15, the schedule creation unit 16 schedules the mobile unit 7 to travel in time zones and areas where the allowable number of other mobile units 7 has already been planned. Choose a route to avoid this. Here, the time at which the selected mobile object 7 passes through each area is calculated based on the calculation conditions for the travel time determined by the calculation condition determination unit 17. After determining the travel route, the process of the schedule creation unit 16 proceeds to step S808 in FIG. 8B.

In step S808 of FIG. 8B, the schedule creation unit 16 determines whether the selected mobile object 7 will be in time for the start time of the task when it moves from the current location to the location of the selected task on the determined travel route. . If the task is a time-specified task, the schedule creation unit 16 makes the determination, for example, by comparing the arrival time of the mobile object 7 at the location of the task with the start time. Further, if the task is a specified period task, the schedule creation unit 16 makes the determination, for example, by comparing the arrival time of the mobile object 7 at the place where the task is performed and the end time of the specified period. In addition, when the work is a regular work, the schedule creation unit 16, for example, compares the interval from the previous execution completion time to the arrival time of the mobile body 7 at the place where the work is performed with the maximum execution interval. Make a judgment. If the start time of the selected job is on time, the process of the schedule creation unit 16 proceeds to step S809. On the other hand, if the start time of the selected task cannot be made in time, the process of the schedule creation unit 16 proceeds to step S813.

In step S809, the schedule creation unit 16 calculates and predicts the time when the selected mobile object 7 will complete the selected task. Here, the predicted completion time of the task is calculated based on the calculation conditions for the required time of the task determined by the calculation condition determination unit 17. Note that the schedule creation unit 16 may appropriately refer to the execution time of the business information stored in the business information storage unit 13 in calculating the completion time. After calculating the completion time, the process of the schedule creation unit 16 proceeds to step S810.

In step S810, the schedule creation unit 16 determines whether the constraint conditions regarding the work and movement determined by the constraint determination unit 15 are satisfied, based on the prediction of the completion time of the selected work by the selected moving object 7. The schedule creation unit 16 determines, for example, that the permissible number of vehicles for the work type at the place where the work is performed is not exceeded, and that the permissible number of vehicles for movement at the completion location and time of the work is not exceeded. If the constraint conditions are satisfied, the process of the schedule creation unit 16 proceeds to step S811. On the other hand, if the constraint condition is not satisfied, the process of the schedule creation unit 16 proceeds to step S813.

In step S811, the schedule creation unit 16 determines whether the selected moving object 7 has a sufficient amount of charge at the time when the selected task is completed. For example, the schedule creation unit 16 determines whether there is enough charge remaining to travel from the place where the task is completed to the charging place. Here, the amount of charging required to move from the place where the work is completed to the charging place may be calculated based on a preset calculation formula, or may be calculated by learning from past history. If the amount of charge is sufficient, the process of the schedule creation unit 16 proceeds to step S812. On the other hand, if the amount of charge is not sufficient, the process of the schedule creation unit 16 proceeds to step S813.

In step S812, the schedule creation unit 16 determines the selected mobile body 7 as a mobile body 7 to which the selected task can be assigned. Thereafter, the process of the schedule creation unit 16 proceeds to step S813.

In step S813, the schedule creation unit 16 determines whether all mobile units 7 capable of performing the selected task have been selected in step S803 of FIG. 8A. If the determination result is YES, the process of the schedule creation unit 16 proceeds to step S814. On the other hand, if the determination result is NO, the process of the schedule creation unit 16 proceeds to step S803, and selects one moving object 7 that has not been selected yet.

In step S814, the schedule creation unit 16 determines whether there is a mobile object 7 to which the selected task can be assigned. If the determination result is YES, the process of the schedule creation unit 16 proceeds to step S815. On the other hand, if the determination result is NO, the process of the schedule creation unit 16 proceeds to step S817.

In step S815, the schedule creation unit 16 determines the mobile unit 7 to which the selected job is actually assigned, from among the mobile units 7 to which the selected job can be assigned. For example, the schedule creation unit 16 determines the mobile object 7 that has the shortest travel distance required to execute the task as the moving object 7 to which the task is assigned. Alternatively, the schedule creation unit 16 may assign the work to the moving body 7, which has the smallest charging consumed to carry out the work, or passes the area where the allowance for movement is set. The task may be assigned to the moving body 7 with the shortest distance. After determining the mobile object 7 to which the selected task is to be assigned, the process of the schedule creation unit 16 proceeds to step S816.

In step S816, the schedule creation unit 16 determines whether all the tasks extracted as tasks to be performed during the target period have been selected in step S801 of FIG. 8A. If the determination result is YES, the process of the schedule creation unit 16 ends. On the other hand, if the determination result is NO, the process of the schedule creation unit 16 proceeds to step S801, and selects one task that has not been selected yet.

In step S817, the schedule creation unit 16 sets the selected task as an unimplemented task. Thereafter, the process of the schedule creation unit 16 proceeds to step S816.

As described above, the mobile system 1 according to the first embodiment includes one or more mobile bodies 7, an observation device, and a management device 9. Each mobile body 7 moves within the facility 2 and performs work. The observation device is installed in facility 2. The management device 9 includes a congestion estimation section 14, a constraint determination section 15, and a schedule creation section 16. The congestion estimation unit 14 estimates the congestion situation for each preset area and each preset time slot in the facility 2 based on information from the observation device. The constraint determination unit 15 determines constraint conditions regarding at least one of the work and movement of each mobile body 7 based on the congestion situation estimated by the congestion estimation unit 14. The schedule creation section 16 creates an action schedule for each moving object 7 to follow based on the constraint conditions determined by the constraint determination section 15.
Furthermore, the method for managing the mobile object 7 according to the first embodiment includes a congestion estimation step, a constraint determination step, and a schedule creation step. The congestion estimation step is a step of estimating the congestion situation for each preset area and each preset time slot in the facility 2 based on information from the observation device. The constraint determining step is a step of determining constraint conditions regarding at least one of the work and movement of each mobile body 7 based on the congestion situation estimated in the congestion estimation step. The schedule creation step is a step of creating an action schedule to be followed by each mobile object 7 based on the constraint conditions determined in the constraint determination step.
Furthermore, the management program for the mobile body 7 according to the first embodiment causes the computer to execute a congestion estimation step, a constraint determination step, and a schedule creation step.

With such a configuration, in a space where users of the facility 2 may exist, the congestion situation by users for each area and for each time is estimated. Further, constraints regarding the work or movement of the mobile body 7 are set according to the estimated congestion situation. Since the action schedule of the moving body 7 is created based on the constraint conditions, the movement of the users of the facility 2 is less likely to be hindered by the moving body 7. Since the action schedule of the mobile object 7 is determined based on the constraint conditions, it is possible to prevent the mobile object 7 from being thrown into an area crowded with users without limit based on energy saving and the like. In this way, an action schedule is created that allows the mobile object 7 to efficiently carry out its work without interfering with the movement of the user.

In addition, the constraint determining unit 15 determines, as constraints regarding the work, the required number of mobile units 7 that perform the work of the work type in the time slot in the area with respect to the area, time slot, and work type.
In addition, the constraint determining unit 15 determines, as constraints regarding the work, the permissible number of mobile objects 7 that perform the work of the work type in the area and the time slot with respect to the area, time slot, and work type.
Furthermore, the constraint determining unit 15 determines, as a constraint regarding movement, the permissible number of movable bodies 7 that move in the area and the time period for the area and time period.

With such a configuration, constraints regarding the required number or permissible number of mobile bodies 7 that perform each task in each area at each time are set according to the estimated congestion situation. As a result, it is possible to carry out tasks, which become more necessary as the number of users increases, using an appropriate number of machines depending on the congestion situation. Furthermore, an action schedule is created that allows the mobile object 7 to efficiently carry out its work without interfering with the movement of the user. Further, according to the estimated congestion situation, constraints regarding the permissible number of moving objects 7 passing through each area at each hour are set. As a result, an action schedule is created that allows the mobile object 7 to efficiently carry out its work without interfering with the movement of the user.

The management device 9 also includes a calculation condition determination unit 17 . The calculation condition determination unit 17 determines the calculation conditions for the time required for the work or movement of the mobile body 7 based on the congestion situation. The schedule creation unit 16 calculates the required time for each mobile body 7 to perform work or travel based on the calculation conditions determined by the calculation condition determination unit 17. The schedule creation unit 16 creates an activity schedule based on the calculated required time and constraints.

With such a configuration, the time required for the work or movement of the mobile body 7 estimated according to the estimated congestion situation, and the constraint conditions regarding the work or movement of the mobile body 7 set according to the estimated congestion situation. An action schedule is created based on. This prevents the mobile object 7 from being unable to carry out work according to the action schedule due to the influence of congestion.

The management device 9 also includes a determination unit 18 . When the constraint conditions are updated, the determination unit 18 determines whether the action schedule satisfies the updated constraint conditions. The schedule creation unit 16 re-creates the action schedule when the determination unit 18 determines that the action schedule does not satisfy the updated constraint condition.

With such a configuration, it is determined whether the already created activity schedule satisfies the updated constraint condition based on the latest estimated congestion situation. Here, if the updated constraint conditions are not satisfied, the action schedule is recreated. This prevents the mobile object 7 from being unable to carry out work according to the action schedule due to changes in the congestion situation.

Note that if there is a moving object that is not managed by the mobile system 1, such as a moving object that is managed by another system, in the facility 2, the mobile system 1 identifies the unmanaged object as a user of the facility 2. You may treat them in the same way. The congestion estimation unit 14 may estimate the congestion situation due to people in the facility 2 and unmanaged moving objects as the congestion situation due to users.

Next, an example of the hardware configuration of the mobile system 1 will be described using FIG. 9.
FIG. 9 is a hardware configuration diagram of the main parts of the mobile system 1 according to the first embodiment.

Each function of the mobile system 1 can be realized by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuitry may include at least one dedicated hardware 200 along with or in place of the processor 100a and memory 100b.

When the processing circuit includes a processor 100a and a memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in memory 100b. The processor 100a implements each function of the mobile system 1 by reading and executing programs stored in the memory 100b.

The processor 100a is also referred to as a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is configured of a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM.

When the processing circuitry comprises dedicated hardware 200, the processing circuitry is implemented, for example, in a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, each function of the mobile system 1 can be realized collectively by a processing circuit. Regarding each function of the mobile system 1, some parts may be realized by the dedicated hardware 200, and other parts may be realized by software or firmware. In this way, the processing circuit implements each function of the mobile system 1 using dedicated hardware 200, software, firmware, or a combination thereof.

Embodiment 2.
In Embodiment 2, points that are different from the example disclosed in Embodiment 1 will be explained in particular detail. As for the features not described in the second embodiment, any of the features in the examples disclosed in the first embodiment may be adopted.

FIG. 10 is a configuration diagram of the mobile system 1 according to the second embodiment.

In Embodiment 2, if it is not possible to create an action schedule that satisfies the constraints according to the estimated congestion situation and implements all the tasks that should be performed, the action schedule is created under weaker constraints. An example of the mobile system 1 to be created will be explained.

In the facility 2, a notification device 20 is provided. The notification device 20 is a device that notifies users of the facility 2 of information, such as a display, a projector, or a speaker. The notification device 20 notifies the user of information using, for example, one or both of visual information and auditory information. In the mobile system 1 , a display, a speaker, or the like included in the elevator 5 or the access control device 6 may be used as the notification device 20 . The management device 9 communicates with the notification device 20 at appropriate timings. The notification device 20 may be a device included in the mobile system 1 or may be an external device to the mobile system 1.

The management device 9 further includes a notification command creation section 21. The notification command creation unit 21 is a part equipped with a function of creating a notification command to the notification device 20 based on the action schedule created by the schedule creation unit 16. The notification command created by the notification command creation unit 21 is transmitted to the notification device 20 placed in the facility 2. The notification device 20 notifies users of the facility 2 based on the received notification command.

FIG. 11 is a flowchart showing an example of the operation of the management device 9 according to the second embodiment.
FIG. 11 shows an example of processing related to creating an activity schedule. The process in FIG. 11 starts at regular timing, such as every hour, for example.

In step S1101, the management device 9 performs the same process as step S701 in FIG. Thereafter, the process of the management device 9 proceeds to step S1102.

In step S1102, the management device 9 determines whether there is any unimplemented work as a result of creating the action schedule in step S1101. If the determination result is NO, the process of the management device 9 advances to step S1103. On the other hand, if the determination result is YES, the process of the management device 9 advances to step S1105.

In step S1103, the control command creation unit 19 creates a control command for the mobile object 7 based on the action schedule created by the schedule creation unit 16 in step S1101. The control command in this case is a control command when the action schedule satisfies the constraint conditions determined by the constraint determining unit 15 based on the congestion situation. After creating the control command, the process of the management device 9 proceeds to step S1104. Note that the management device 9 transmits the control commands for the mobile objects 7 created by the control command creation unit 19 to each mobile object 7 through the mobile object control device 8 or directly at a timing according to necessity. .

In step S1104, the notification command creation unit 21 creates a notification command to the notification device 20 based on the action schedule created by the schedule creation unit 16 in step S1101. The notification command in this case is a notification command when the action schedule satisfies the constraint conditions determined by the constraint determining unit 15 based on the congestion situation. The notification command creation unit 21 creates, for example, a notification command for issuing a notification to alert the user regarding the execution of the work of the mobile body 7. After creating the notification command, the processing of the management device 9 ends. Note that the management device 9 transmits the notification command to the notification device 20 created by the notification command creation unit 21 to the notification device 20 at an appropriate timing.

In step S1105, the management device 9 determines whether it is permitted to create an activity schedule by relaxing the constraint conditions determined by the constraint determining unit 15 based on the congestion situation. Here, permission or disapproval of relaxation of the constraint conditions may be set in advance, or may be set after confirming with the administrator of the facility 2 via the information terminal 3 or the like. If the determination result is YES, the process of the management device 9 advances to step S1106. On the other hand, if the determination result is NO, the process of the management device 9 proceeds to step S1110.

In step S1106, the schedule creation unit 16 creates an action schedule for the mobile object 7 by relaxing the constraint conditions determined by the constraint determination unit 15. The schedule creation unit 16 may relax all of the constraint conditions, or may relax only some of the constraint conditions. For example, the schedule creation unit 16 may relax one or both of the constraints regarding work or movement. The schedule creation unit 16 may relax all of the constraints related to work or movement, such as the required number of machines or the allowed number of machines, or may relax only some of the conditions. As a specific example of a method for relaxing the constraint conditions, the required number may be set to 0, the allowable number may be set to be unlimited, or the number may be increased or decreased by a preset number. Note that in this example, the constraint determining unit 15 does not change the constraint itself based on the congestion situation. The schedule creation unit 16 creates an action schedule after relaxing the constraint conditions determined by the constraint determination unit 15. The process of creating an activity schedule based on the relaxed constraints is performed in the same way as the process shown in FIG. 8 . After creating the action schedule based on the relaxed constraints, the process of the management device 9 proceeds to step S1107.

In step S1107, the management device 9 determines whether there is any unimplemented work as a result of creating the action schedule in step S1106. If the determination result is NO, the process of the management device 9 advances to step S1108. On the other hand, if the determination result is YES, the process of the management device 9 proceeds to step S1110.

In step S1108, the control command creation unit 19 creates a control command for the mobile object 7 based on the action schedule created by the schedule creation unit 16 in step S1106. The control command in this case is a control command when the action schedule does not satisfy the original constraint condition determined by the constraint determination unit 15 based on the congestion situation. At this time, the control command generation unit 19 issues a control command that causes the moving body 7 to move at a slower speed than when the original constraint conditions are satisfied, or to move while alerting the surroundings by display or audio. You may create one. In this case, the schedule creation unit 16 may create the action schedule in step S1107 assuming that the mobile object 7 moves at a slower speed than when the original constraint condition is satisfied. By creating such a control command, operations can be performed with greater consideration for the users of the facility 2. After creating the control command, the process of the management device 9 proceeds to step S1109.

In step S1109, the notification command creation unit 21 creates a notification command to the notification device 20 based on the action schedule created by the schedule creation unit 16 in step S1106. The notification command in this case is a notification command when the action schedule does not satisfy the original constraint conditions determined by the constraint determining unit 15 based on the congestion situation. At this time, the notification command creation unit 21 may, for example, create a notification command with notification content that calls for more attention than when the original constraint condition is satisfied. For example, the notification command creation unit 21 creates a notification command for display-only notification when the original constraint condition is met, and creates a notification command for both display and audio notification when the original constraint condition is not satisfied. You may also do so. By creating such a notification command, operations can be carried out with greater consideration for the users of the facility 2. After creating the notification command, the processing of the management device 9 ends.

In step S1110, the management device 9 notifies the information terminal 3 of information that there is unimplemented work. At this time, the management device 9 may also notify that relaxation of the constraints is not permitted, or that there are still unimplemented tasks even after the constraints are relaxed. Thereafter, the processing of the management device 9 ends. The management device 9 notifies the administrator of the facility 2 or the registrant of the business information via the information terminal 3 that all the registered businesses cannot be performed, or prompts the administrator to correct the business information. can do.

As described above, in the mobile system 1 according to the second embodiment, the management device 9 includes the control command creation section 19. The control command creation unit 19 creates control commands for each mobile object 7 based on the action schedule. The control command creation unit 19 creates different control commands depending on whether the action schedule satisfies the original constraint condition determined by the constraint determination unit 15 depending on the congestion situation or not.

With such a configuration, when the action schedule does not satisfy the constraint according to the estimated congestion situation, a different control command to the mobile body 7 is created than when the constraint is satisfied. As a result, the work is performed with more consideration to the users of the facility 2 than when the action schedule satisfies the original constraint conditions.

The management device 9 also includes a notification command creation section 21 . The notification command creation unit 21 creates a notification command to the notification device 20 provided in the facility 2 based on the action schedule. The notification command creation unit 21 creates different notification commands depending on whether the activity schedule satisfies the original constraint determined by the constraint determination unit 15 depending on the congestion situation or not.

With such a configuration, when the action schedule does not satisfy the constraint according to the estimated congestion situation, a different notification command to the notification device 20 is created than when the constraint is satisfied. As a result, the work is performed with more consideration to the users of the facility 2 than when the action schedule satisfies the original constraint conditions.

1 mobile system, 2 facility, 3 information terminal, 4 user detection device, 5 elevator, 6 entrance/exit control device, 7 mobile object, 8 mobile object control device, 9 management device, 10 map information storage unit, 11 user Information storage unit, 12 Mobile information storage unit, 13 Business information storage unit, 14 Congestion estimation unit, 15 Constraint determination unit, 16 Schedule creation unit, 17 Calculation condition determination unit, 18 Determination unit, 19 Control command creation unit, 20 Notification device, 21 notification command creation unit, 100a processor, 100b memory, 200 dedicated hardware

A mobile object management method according to the present disclosure includes a method of managing a mobile object that analyzes the congestion situation for each preset area and preset time period in a facility where one or more mobile objects move to carry out work. a congestion estimation step in which a computer estimates based on information from an observation device installed at the a constraint determining step in which a computer determines a constraint regarding one of the two; and a schedule creating step in which a computer creates an action schedule to be followed by each of the one or more moving objects based on the constraint determined in the constraint determining step. and.

Claims (11)

Based on information from observation devices installed at the facility, the congestion status for each preset area and preset time period in a facility where one or more mobile objects move to carry out work. a congestion estimation unit that estimates the
a constraint determining unit that determines constraint conditions regarding at least one of work and movement of each of the one or more mobile bodies based on the congestion situation estimated by the congestion estimation unit;
a schedule creation unit that creates an action schedule to be followed by each of the one or more moving objects based on the constraint conditions determined by the constraint determination unit;
A mobile object management device comprising: The constraint determining unit determines, as the constraint conditions regarding the work, regarding the area, the time period, and the work type, one or more of the one or more mobile objects is mobile that performs the work of the work type in the relevant area during the relevant time period. Determine the required number of bodies,
The mobile body management device according to claim 1. The constraint determining unit determines, as the constraint conditions regarding the work, regarding the area, the time period, and the work type, one or more of the one or more mobile objects is mobile that performs the work of the work type in the relevant area during the relevant time period. determine the permissible number of bodies,
The mobile body management device according to claim 1. The constraint determining unit determines, for the area and the time period, the permissible number of mobile objects that move in the area during the time period among the one or more mobile objects, as the restriction condition regarding movement.
The mobile body management device according to claim 1. comprising a calculation condition determination unit that determines calculation conditions for the time required for the work or movement of the mobile body based on the congestion situation,
The schedule creation unit calculates the required time for each task or movement of the one or more mobile bodies based on the calculation conditions determined by the calculation condition determination unit, and based on the calculated required time and the constraint conditions. creating the action schedule;
A mobile body management device according to any one of claims 1 to 4. a determination unit that determines whether the action schedule satisfies the updated constraint condition when the constraint condition is updated;
The schedule creation unit re-creates the action schedule when the determination unit determines that the action schedule does not satisfy the updated constraint condition.
A mobile body management device according to any one of claims 1 to 4. a control command creation unit that creates control commands for each of the one or more moving objects based on the action schedule;
The control command creation unit creates different control commands depending on whether the action schedule satisfies the constraint condition or when the action schedule does not satisfy the constraint condition.
A mobile body management device according to any one of claims 1 to 4. comprising a notification command creation unit that creates a notification command to a notification device installed in the facility based on the action schedule,
The notification command creation unit creates different notification commands depending on whether the action schedule satisfies the constraint condition or when the action schedule does not satisfy the constraint condition.
A mobile body management device according to any one of claims 1 to 4. Based on information from observation devices installed at the facility, the congestion status for each preset area and preset time period in a facility where one or more mobile objects move to carry out work. a congestion estimation step for estimating
a constraint determining step of determining constraint conditions regarding at least one of work and movement of each of the one or more mobile bodies based on the congestion situation estimated in the congestion estimation step;
a schedule creation step of creating an action schedule to be followed by each of the one or more mobile objects based on the constraints determined in the constraint determination step;
A mobile object management method comprising: to the computer,
Based on information from observation devices installed at the facility, the congestion status for each preset area and preset time period in a facility where one or more mobile objects move to carry out work. a congestion estimation step for estimating
a constraint determining step of determining constraint conditions regarding at least one of work and movement of each of the one or more mobile bodies based on the congestion situation estimated in the congestion estimation step;
a schedule creation step of creating an action schedule to be followed by each of the one or more mobile objects based on the constraints determined in the constraint determination step;
A mobile object management program that runs one or more mobile units that move around the facility to perform operations;
an observation device installed in the facility;
a congestion estimation unit that estimates the congestion situation for each preset area and each preset time slot in the facility based on information from the observation device;
a constraint determining unit that determines constraint conditions regarding at least one of work and movement of each of the one or more mobile bodies based on the congestion situation estimated by the congestion estimation unit;
a schedule creation unit that creates an action schedule to be followed by each of the one or more moving objects based on the constraint conditions determined by the constraint determination unit;
A mobile system comprising:

Images